CN104275697A - Mechanical arm mechanism for moving compact disc (CD) - Google Patents
Mechanical arm mechanism for moving compact disc (CD) Download PDFInfo
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- CN104275697A CN104275697A CN201410583395.2A CN201410583395A CN104275697A CN 104275697 A CN104275697 A CN 104275697A CN 201410583395 A CN201410583395 A CN 201410583395A CN 104275697 A CN104275697 A CN 104275697A
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- briquetting
- transmission shaft
- connecting base
- upper connecting
- mechanical arm
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Abstract
The invention relates to a mechanical arm mechanism, and in particular relates to a mechanical arm mechanism for moving a compact disc (CD), aiming at solving the problem that when the existing CD is manually moved between a feed bin and a recordable optical drive, the surface of the CD is easily worn. According to the mechanical arm mechanism, an upper connecting seat is fixedly connected with an actuating end of a mechanical arm; a direct current (DC) motor is fixedly arranged on the upper connecting seat; a transmission shaft is fixedly connected with an output end of the DC motor; a sleeve sleeves on the transmission shaft; a bearing seat is connected with the transmission shaft; the lower end of the transmission shaft is connected with a cam; a vertical plate and a cover plate are fixedly connected with the lower end of the bearing seat; a bottom plate is fixedly arranged at the lower ends of the vertical plate and the cover plate; a sliding shaft is horizontally arranged on the inner side wall of the vertical plate; a first press block and a second press block movably sleeve on the sliding shaft; the cam is connected with the first press block and the second press block respectively by a first steel ball and a second steel ball; an approach switch is connected with the upper connecting seat by a lower connecting seat. The mechanical arm mechanism is used for moving the CD.
Description
Technical field
The present invention relates to a kind of manipulator mechanism, be specifically related to a kind of CD mobile manipulator mechanism.
Background technology
At large data age, the expansion of data volume causes googol according to storage pressure, at present, is that the huge capacity compact discs memory technology of representative well solves this difficulty with Blu-ray Disc.Every 1000 optical disc storage abilities are 1024TB, and can save the memory space of 50% and the power consumption of 80% relative to traditional hard-disc storage, the holding time then extends to 50 years.But a large amount of data must bring the copy work of a large amount of CD, and are usually attended by the privacy requirements of inhuman operation.At present, CD adopts artificial mobile between feed bin and recording optical driver, easily causes the problem that CD card is worn and torn.
Summary of the invention
The object of the invention is the problem easily causing CD card to wear and tear to solve the artificial movement of existing CD between feed bin and recording optical driver.And then a kind of CD mobile manipulator mechanism is provided.
Technical scheme of the present invention is: a kind of CD mobile manipulator mechanism comprises direct current generator, flange, proximity switch, power transmission shaft, sleeve, bearing block, first steel ball, first briquetting, shaft coupling, upper connecting base, upper bearing (metal), lower bearing, riser, cover plate, base plate, lower connecting base, second steel ball, second briquetting, cam and two sliding axles, upper connecting base is fixedly connected with the actuating station of mechanical arm by shaft coupling, direct current generator is fixedly mounted on upper connecting base by flange, power transmission shaft is fixedly connected on the output of direct current generator, sleeve set is on power transmission shaft, bearing block is connected with power transmission shaft with lower bearing by upper bearing (metal), the lower end of power transmission shaft is connected with cam, riser is fixedly connected with the lower end of bearing block with cover plate, the space structure that the lower end composition that base plate is fixedly mounted on riser and cover plate is closed, sliding axle level is arranged on the madial wall of riser, first briquetting and the second briquetting respectively Moveable-jacket are contained on a sliding axle, and cover plate is stretched out in the lower end of the first briquetting and the second briquetting, cam is connected by the first steel ball and the second steel ball with between the first briquetting and the second briquetting, proximity switch is connected with upper connecting base by lower connecting base.
The present invention compared with prior art has following effect:
The present invention is to provide CD mobile manipulator mechanism, realize the crawl of CD by controlling a direct current generator and unclasp operation, and there is good action movement characteristic and the stability of operation, and the precise positioning of manipulator and CD relative distance is ensure that by proximity switch, achieve the stable crawl of CD, improve the accuracy of Robot actions.This mechanism is light and handy, precision is high, and what coordinate Cartesian robot arm to can be good at realizing CD in certain space accurately picks and places task, and efficiency improves 50-60%, owing to avoiding as people moves, carries out realizing the not damaged to CD.
Accompanying drawing explanation
Fig. 1 is the first briquetting of the present invention or the second briquetting overall structure schematic diagram.Fig. 2 is the left view of Fig. 1.Fig. 3 is the side view of Fig. 1.Fig. 4 is axonometric drawing of the present invention.Fig. 5 is side view of the present invention.Fig. 6 is sectional view of the present invention.
Detailed description of the invention
Detailed description of the invention one: composition graphs 1, Fig. 2, Fig. 3, Fig. 4, Fig. 5 and Fig. 6 illustrates present embodiment, and a kind of CD mobile manipulator mechanism of present embodiment comprises direct current generator 1, flange 2, proximity switch 3, power transmission shaft 4, sleeve 5, bearing block 6, first steel ball 7, first briquetting 8, shaft coupling 9, upper connecting base 10, upper bearing (metal) 11, lower bearing 12, riser 13, cover plate 14, base plate 15, lower connecting base 16, second steel ball 17, second briquetting 19, cam 20 and two sliding axles 21, upper connecting base 10 is fixedly connected with the actuating station of mechanical arm by shaft coupling 9, direct current generator 1 is fixedly mounted on upper connecting base 10 by flange 2, power transmission shaft 4 is fixedly connected on the output of direct current generator 1, sleeve 5 is sleeved on power transmission shaft 4, bearing block 6 is connected with power transmission shaft 4 with lower bearing 12 by upper bearing (metal) 11, the lower end of power transmission shaft 4 is connected with cam 20, riser 13 is fixedly connected with the lower end of cover plate 14 with bearing block 6, the space structure that the lower end composition that base plate 15 is fixedly mounted on riser 13 and cover plate 14 is closed, sliding axle 21 level is arranged on the madial wall of riser 13, first briquetting 8 and the second briquetting 19 respectively Moveable-jacket are contained on a sliding axle 21, and cover plate 14 is stretched out in the lower end of the first briquetting 8 and the second briquetting 19, cam 20 is connected by the first steel ball 7 and the second steel ball 17 with between the first briquetting 8 and the second briquetting 19, proximity switch 3 is connected with upper connecting base 10 by lower connecting base 16.
The manipulator of present embodiment is fixed on the actuating station of mechanical arm by shaft coupling, general with Cartesian robot arm with the use of, the positioning action of mechanical arm execution manipulator, thus realize the loading or unloading operation of CD in certain space.
The action of the manipulator of present embodiment is by a DC motor Driver, and motor is fixed on upper connecting base by ring flange, and power transmission shaft is fixed on the output shaft of motor, and output shaft is fixed on bearing block by upper bearing (metal) and lower bearing, and the other end and cam are connected.Proximity switch is fixed on the right side of bearing block, for the degree of closeness of perception actuating station and CD.Riser and cover plate are fixed on bearing block bottom surface, and base plate is connected by screw and riser and cover plate, forms enclosed construction thus, makes this manipulator have good seal.
Detailed description of the invention two: composition graphs 4 and Fig. 6 illustrate present embodiment, the CD mobile manipulator mechanism of present embodiment also comprises the first copper sheathing 18 and the second copper sheathing 22, first briquetting 8 and the second briquetting 19 are contained on sliding axle 21 respectively by the first copper sheathing 18 and the second copper sheathing 22 Moveable-jacket, and the first briquetting 8 is identical with the structure of the second briquetting 19.Setting like this, sliding axle is fixed on two cover plates, first copper sheathing 18 and the second copper sheathing 22 are embedded into the slip axis hole of the first briquetting 8 and the second briquetting 19 respectively, thus constitute the line slide rail of two briquettings, are realized the change of the spacing of two slide blocks by the slip on line slide rail.Other composition is identical with detailed description of the invention one with annexation.
Detailed description of the invention three: composition graphs 1, Fig. 2 and Fig. 3 illustrate present embodiment, the upper surface of the first briquetting 8 of present embodiment has ball orbit groove 23, the lower surface of the first briquetting 8 is provided with semi-circular boss 24, the thickness of described semi-circular boss 24 is 1mm, first briquetting 8 has slip axis hole 25, and slip axis hole 25 is vertical with ball orbit groove 23, between the first briquetting 8 between slip axis hole 25 and semi-circular boss 24, offer through hole 26.Setting like this, because the boss of briquetting will contact with CD as actuating station in Robot actions process, therefore base plate adopts hollow out design to make its semicircle boss expose base plate, avoids interferenceing with the motion of boss simultaneously.Other composition is identical with detailed description of the invention one or two with annexation.
The thickness of the semi-circular boss 24 of present embodiment is 1mm.When running into multiple CDs and being attached together, the lower surface of the first briquetting is provided with the thickness that semi-circular boss is less than a CD, and then has position-limiting action, ensures once to get a CD.
The quantity of the through hole 26 of present embodiment is 1 or 2.
Detailed description of the invention four: composition graphs 4 and Fig. 6 illustrate present embodiment, the proximity switch 3 of present embodiment is vertically connected with upper connecting base 10 by lower connecting base 16.Setting like this, the perception end of proximity switch is perpendicular to disc plane, and when arriving desired distance, proximity switch sends pulse command, thus accurately control the vertical range of Robot actions end and CD, only capture a CD while ensureing effectively to capture CD at every turn.Other composition and annexation and detailed description of the invention one, two or three identical.
Using method of the present invention is as follows:
In this Robot actions process, the distance of sense operation end and CD is carried out by the proximity switch be fixed on manipulator, the perception end of proximity switch is perpendicular to disc plane, when arriving desired distance 2mm, proximity switch sends pulse command braking drive motors to controller, thus accurately control the vertical range of Robot actions end and CD, only capture a CD while ensureing effectively to capture CD at every turn.After the positioning action of manipulator terminates, then perform grasping manipulation.After receiving crawl instruction, direct current generator rotates corresponding angle, thus drives the angle that drive axis is identical, and the other end and the cam of driving shaft connect firmly, and therefore cam also rotates identical angle.Because the elliptical orbit groove of cam bottom surface and the linear pattern rail groove of the first briquetting and the second briquetting constitute the track that the first ball and the second ball roll respectively, and the relative position of the first ball and the second ball and two tracks are all relative to the axis centre symmetry of cam, therefore, drive the first ball and the second ball to be synchronized with the movement when cam rotates, and the direction of motion is contrary, thus drive the first briquetting and the second briquetting to slide in the opposite direction along sliding axle, and it is equal relative to the size moment of the Distance geometry speed of camshaft line, thus, the relative motion of the first briquetting and the second briquetting is achieved by a motor, and motion has good synchronism, the size of Distance geometry speed has good uniformity, not only reduce the quantity of motor, and ensure that paw operates good kinetic characteristic and the stability of operation, improve the performance that paw captures and unclasps.When paw performs grasping manipulation, on the basis that the first briquetting and the second briquetting initial phase are adjusted the distance, motion increases relative distance laterally simultaneously, when the endoporus close contact of two semi-circular boss and CD, then can be stable clamp CD, and only capture a CD because the accurate control of manipulator and CD position ensure that at every turn; When paw execution unclasps operation, on the basis that the first briquetting and the second briquetting initial phase are adjusted the distance, motion reduces relative distance to the inside simultaneously, when two semi-circular boss do not contact with the endoporus of CD, then can unclasp CD.
Although the present invention discloses as above with preferred embodiment; but and be not used to limit of the present invention; those skilled in the art can also do other changes in spirit of the present invention; and be applied in the NM field of the present invention; certainly, these changes done according to the present invention's spirit all should be included in the present invention's scope required for protection.
Claims (4)
1. a CD mobile manipulator mechanism, it is characterized in that: described CD mobile manipulator mechanism comprises direct current generator (1), flange (2), proximity switch (3), power transmission shaft (4), sleeve (5), bearing block (6), first steel ball (7), first briquetting (8), shaft coupling (9), upper connecting base (10), upper bearing (metal) (11), lower bearing (12), riser (13), cover plate (14), base plate (15), lower connecting base (16), second steel ball (17), second briquetting (19), cam (20) and two sliding axles (21), upper connecting base (10) is fixedly connected with the actuating station of mechanical arm by shaft coupling (9), direct current generator (1) is fixedly mounted on upper connecting base (10) by flange (2), power transmission shaft (4) is fixedly connected on the output of direct current generator (1), sleeve (5) is sleeved on power transmission shaft (4), bearing block (6) is connected with power transmission shaft (4) with lower bearing (12) by upper bearing (metal) (11), the lower end of power transmission shaft (4) is connected with cam (20), riser (13) is fixedly connected with the lower end of cover plate (14) with bearing block (6), the space structure that the lower end composition that base plate (15) is fixedly mounted on riser (13) and cover plate (14) is closed, sliding axle (21) level is arranged on the madial wall of riser (13), first briquetting (8) and the second briquetting (19) respectively Moveable-jacket are contained on a sliding axle (21), and cover plate (14) is stretched out in the lower end of the first briquetting (8) and the second briquetting (19), cam (20) is connected by the first steel ball (7) and the second steel ball (17) with between the first briquetting (8) and the second briquetting (19), proximity switch (3) is connected with upper connecting base (10) by lower connecting base (16).
2. a kind of CD mobile manipulator mechanism according to claim 1, it is characterized in that: described CD mobile manipulator mechanism also comprises the first copper sheathing (18) and the second copper sheathing (22), first briquetting (8) and the second briquetting (19) are contained on sliding axle (21) respectively by the first copper sheathing (18) and the second copper sheathing (22) Moveable-jacket, and the first briquetting (8) is identical with the structure of the second briquetting (19).
3. a kind of CD mobile manipulator mechanism according to claim 1 and 2, it is characterized in that: the upper surface of described first briquetting (8) has ball orbit groove (23), the lower surface of the first briquetting (8) is provided with semi-circular boss (24), the thickness of described semi-circular boss (24) is 1mm, first briquetting (8) has slip axis hole (25), and slip axis hole (25) is vertical with ball orbit groove (23), through hole (26) is offered between the first briquetting (8) between slip axis hole (25) and semi-circular boss (24).
4. a kind of CD mobile manipulator mechanism according to claim 1, is characterized in that: described proximity switch 3 is vertically connected with upper connecting base (10) by lower connecting base (16).
Priority Applications (1)
| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410583395.2A CN104275697B (en) | 2014-10-27 | 2014-10-27 | A kind of CD mobile manipulator mechanism |
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| Application Number | Priority Date | Filing Date | Title |
|---|---|---|---|
| CN201410583395.2A CN104275697B (en) | 2014-10-27 | 2014-10-27 | A kind of CD mobile manipulator mechanism |
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| CN104275697A true CN104275697A (en) | 2015-01-14 |
| CN104275697B CN104275697B (en) | 2016-06-22 |
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| Application Number | Title | Priority Date | Filing Date |
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| CN201410583395.2A Active CN104275697B (en) | 2014-10-27 | 2014-10-27 | A kind of CD mobile manipulator mechanism |
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Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105459144A (en) * | 2015-12-28 | 2016-04-06 | 广东紫晶信息存储技术股份有限公司 | Optical disk batch fetching and distributing device and method |
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| CN2738959Y (en) * | 2004-10-15 | 2005-11-09 | 中央电视台 | Mechanical arm |
| US20080134223A1 (en) * | 2004-03-27 | 2008-06-05 | Ionescu Anton V | Automatic Devices, Equipment and Methods for Handling Objects |
| CN201570262U (en) * | 2009-12-23 | 2010-09-01 | 苏州互盟信息存储技术有限公司 | Automatic disk grasping device for compact disk server |
| CN102501254A (en) * | 2011-10-31 | 2012-06-20 | 东莞宏威数码机械有限公司 | Cylinder type pneumatic claw device |
| US20120321435A1 (en) * | 2010-07-21 | 2012-12-20 | Teradyne, Inc. | Bulk transfer of storage devices using manual loading |
| CN202910871U (en) * | 2012-11-23 | 2013-05-01 | 北京理工大学 | Mechanical arm applied in optical disk warehouse |
| CN204117591U (en) * | 2014-10-27 | 2015-01-21 | 哈尔滨众德合创智能装备有限责任公司 | A kind of CD mobile manipulator mechanism |
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2014
- 2014-10-27 CN CN201410583395.2A patent/CN104275697B/en active Active
Patent Citations (7)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| US20080134223A1 (en) * | 2004-03-27 | 2008-06-05 | Ionescu Anton V | Automatic Devices, Equipment and Methods for Handling Objects |
| CN2738959Y (en) * | 2004-10-15 | 2005-11-09 | 中央电视台 | Mechanical arm |
| CN201570262U (en) * | 2009-12-23 | 2010-09-01 | 苏州互盟信息存储技术有限公司 | Automatic disk grasping device for compact disk server |
| US20120321435A1 (en) * | 2010-07-21 | 2012-12-20 | Teradyne, Inc. | Bulk transfer of storage devices using manual loading |
| CN102501254A (en) * | 2011-10-31 | 2012-06-20 | 东莞宏威数码机械有限公司 | Cylinder type pneumatic claw device |
| CN202910871U (en) * | 2012-11-23 | 2013-05-01 | 北京理工大学 | Mechanical arm applied in optical disk warehouse |
| CN204117591U (en) * | 2014-10-27 | 2015-01-21 | 哈尔滨众德合创智能装备有限责任公司 | A kind of CD mobile manipulator mechanism |
Cited By (1)
| Publication number | Priority date | Publication date | Assignee | Title |
|---|---|---|---|---|
| CN105459144A (en) * | 2015-12-28 | 2016-04-06 | 广东紫晶信息存储技术股份有限公司 | Optical disk batch fetching and distributing device and method |
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| CN104275697B (en) | 2016-06-22 |
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